Dog-Friendly Parks & Trails to Hike in the St. Croix River Valley
- 16 hours ago
- 13 min read
The St. Croix River Valley is one of the Midwest's most scenic outdoor destinations, stretching along the border of Minnesota and Wisconsin. Flowing for nearly 170 miles before joining the Mississippi River, the St. Croix has carved a landscape of forested bluffs, rocky cliffs, sandy beaches, and serene riverbanks that invite visitors to slow down and explore. Much of the river is protected as part of the Saint Croix National Scenic Riverway, helping preserve its natural beauty and making it a favorite destination for hiking, paddling, wildlife watching, and weekend getaways.
The valley's dramatic scenery was shaped over millions of years by volcanic activity, ancient seas, and powerful glaciers that carved deep gorges and exposed towering sandstone and basalt formations. Today, those geologic features create unforgettable views at parks like Interstate Park, while miles of wooded trails wind through state parks, forests, and conservation areas. Along the way, hikers can discover waterfalls, overlooks, quiet streams, and abundant wildlife in every season.
Beyond its natural beauty, the St. Croix River Valley is rich in history and small-town charm. Indigenous communities have called this region home for thousands of years, and later it became a hub for the fur trade and the logging industry that helped build many communities throughout the Upper Midwest. Today, historic river towns, welcoming parks, and miles of dog-friendly trails make the St. Croix River Valley an ideal destination for outdoor adventures with your four-legged companion.
Whether you live nearby or you're planning a trip, there is so much to explore! I have lived in this area for most of my life, and I still feel like I am exploring new corners of this beautiful place. Here is a list of some of my favorite dog-friendly parks and trails to hike in the St. Croix River Valley, plus a few local pet-friendly spots nearby to round out your adventure. I hope you have the best time!
Explore the Dog-Friendly St. Croix River Valley
Minnesota Parks & Trails
Afton, MN
Afton State Park
Center City, MN
Wild River State Park
Hinckley, MN
St. Croix State Park
Marine on St. Croix, MN
William O'Brien State Park
Sandstone, MN
Banning State Park
Stillwater, MN
Arcola Bluffs Day Use Area
Pine Point Regional Park
St. Croix Boom Site
Taylors Falls, MN
Interstate State Park
Wisconsin Parks & Trails
Grantsburg, WI
Governor Knowles State Forest
Hudson, WI
Willow River State Park
Luck, WI
Straight Lake State Park
Osceola, WI
Cascade Falls
Standing Cedars
River Falls, WI
Glen Park
Kinnickinnic State Park
St. Croix Falls, WI
Ahlgren Wildlife Preserve
Interstate State Park
Wert Family Nature Preserve
Location / Town: Afton State Park, Afton, MN
Recommended Trail: North River Trail Loop, about 4 miles, moderate difficulty. There are dozens of trails to choose from at this park, and you really can't go wrong!
Information: The North River Trail encircles an open field, allowing hikers to observe red-tailed hawks, eastern bluebirds, and a variety of butterflies feasting on local flowers. The trail winds through a moist red maple forest and crosses a boardwalk in one section, while another leads to an observation platform where hikers can take in the sights and sounds of the North River. As hikers ascend, they will be surrounded by towering white pines and hemlocks. During migration periods, hikers see many waterfowl near the little lakes. Hikers will also be rewarded with open meadows and crystal-clear streams. Along the trail, bald eagles can frequently be spotted perched atop dead trees.
Permit / Parking: Minnesota State Park Vehicle Permit required
Nearby Dog-Friendly Spot: The Lumberyard Pub is a casual dining pub serving a large selection of beers, wine, and cocktails in a dog-friendly environment. Visitors to the former lumberyard with Fido in tow can sit at one of its many outdoor tables to enjoy a meal alongside their canine. The Lumberyard Pub requests that furry friends remain leashed during their visit.
Location / Town: Ahlgren Wildlife Preserve & Recreation Area, St. Croix Falls, WI
Recommended Trail: Ahlgren Wildlife Preserve Loop, an easy 0.6-mile loop trail
Information: This 172.6-acre peaceful parcel of land is set aside to preserve it as it may have been found many centuries ago. Enjoy the hiking trails, water, wildlife, and woods. The preserve is dedicated to the Ahlgren family and to all of the others who have made Polk County and Wisconsin great. The Park is used primarily as a walking and wildlife viewing area.
Permit / Parking: No permits or parking fees required
Nearby Dog-Friendly Spot: Deer Lake Winery is a beautiful dog-friendly establishment located in St. Croix Falls, WI. Dogs are welcome to join you at a table under the covered outdoor canopy.
Location / Town: Arcola Bluffs Day Use Area, Stillwater, MN
Recommended Trail: Arcola Bluffs Trail, about 3 miles
Information: Explore the scenic beauty of the St. Croix Valley on this rolling trail through woods and prairie. You will head toward the river, where the forest opens up to reveal the towering Arcola High Bridge. Remember to stay off the railroad tracks as the bridge is still active. The southernmost part of the trail tends to be overgrown during the summer season.
Permit / Parking: No permits or parking fees required
Nearby Dog-Friendly Spot: Stillwater is an incredibly dog-friendly place. Check out Discover Stillwater's Dog-Friendly Stillwater page for information about dog-friendly restaurants and shops.
Location / Town: Banning State Park, Sandstone, MN
Recommended Trail: Wolf Creek Falls via Quarry Loop and Wolf Creek Trail, an easy to moderate 3.6-mile trail
Information: This trail takes you to Wolf Creek Falls in Banning State Park. The trail passes by the Banning State Park Campground, offering nice river views, rapids, and a little waterfall with rock steps at the end. You'll also see large sandstone features along the Kettle River and find little plaques telling you about the history of the quarry.
Permit / Parking: Minnesota State Park Vehicle Permit required
Nearby Dog-Friendly Spot: It might be time for you and your pup to head to the Doc's, Doc's Sports Bar and Grill, that is. Outside, you'll find five pet-friendly picnic tables and four tables under the gazebo for dogs and their owners. Locally owned and operated, this sports bar boasts a full menu of steaks, burgers, appetizers, soups, and salads.
Location / Town: Osceola, WI
Recommended Trail: Cascade Falls and Eagle Bluff Loop, a moderately difficult 1.2-mile loop
Information: This loop begins with a descent down a large staircase into Wilke Glen, leading hikers directly to the base of the stunning, 25-foot Cascade Falls. From the waterfall, the trail follows Osceola Creek to the St. Croix River before turning into a steep, root-laden switchback climb up Eagle Bluff.
Permit / Parking: No permits or parking fees required
Nearby Dog-Friendly Spot: The Watershed Cafe is a pet-friendly eatery in Osceola, WI that welcomes leashed dogs at outdoor tables.
Location / Town: Glen Park, River Falls, WI
Recommended Trail: Glen Park Trail, under 2 miles, moderate difficulty
Information: Glen Park is a 40-acre park located southwest of the downtown district. The park was established in July of 1898. It is the City’s oldest park and even had a zoo at one point. Some highlights of the park include trails connecting to the Kinnickinnic Pathway to the north, River Hills Park to the south, and the Kinnickinnic River.
Permit / Parking: No permits or parking fees required
Nearby Dog-Friendly Spot: Bring your pup to Swinging Bridge Brewing Company in River Falls, WI. This dog-friendly bar invites two- and four-legged friends to sit together at one of the outdoor tables on the seasonal patio.
Location / Town: Governor Knowles State Forest, Grantsburg, WI
Recommended Trail: Sandrock Cliffs, an easy 2.8-mile trail
Information: This 55-mile-long forest in northwestern Wisconsin parallels the St. Croix National Scenic Riverway and offers camping, paddling, hiking, horseback riding, biking, hunting, fishing, cross-country skiing and snowmobiling opportunities. Three campgrounds (St. Croix, Trade River Equestrian and Sioux Portage Group) and nine primitive backpack campsites are found within 32,500 wooded acres.
Permit / Parking: Wisconsin State Park Vehicle Permit required
Nearby Dog-Friendly Spot: Burnett Dairy has a couple of pet-friendly picnic tables outside in Grantsburg, WI. You and Fido can choose from a huge array of fresh cheese, gourmet grilled cheese sandwiches, fried cheese curds, pizza, and ice cream. Dogs are not allowed inside, so it's best to have someone come with you and wait outside while you order.
Location / Town: Interstate State Park, St. Croix Falls, Wisconsin
Recommended Trail: Pothole & Horizon Rock Trail, a moderately difficult 1.8-mile trail. There are miles of trails at this park. Feel free to explore more!
Information: Enjoy this fantastic short trail around Interstate Park, which is popular for rock climbing and hiking. You get fantastic views of the St. Croix River from multiple overlooks. This trail is a great option for families looking to explore this area. There are several other popular trail options from this trailhead.
Permit / Parking: Wisconsin State Park Vehicle Permit required
Nearby Dog-Friendly Spot: Deer Lake Winery is a beautiful dog-friendly establishment located in St. Croix Falls, WI. Dogs are welcome to join you at a table under the covered outdoor canopy.
Location / Town: Interstate State Park, Taylors Falls, Minnesota
Recommended Trail: Walter F. Mondale River Trail and Railroad Trail Loop, a moderately difficult 3.1-mile trail. There are miles of trails at this park. Feel free to explore more!
Information: This trail begins at the Interstate State Park Visitors Center, where parking and restrooms are available. From here, the route meanders alongside the St. Croix River as it heads towards Interstate Park Campground. The trail then follows the Railroad Trail around Sandstone Point, winding its way through gorgeous bushland back toward Taylor Falls. Mosquitoes can be ruthless in spring and summer, so come prepared with bug spray. Steep stairs along the way add to the trail's difficulty.
Permit / Parking: Minnesota State Park Vehicle Permit required
Nearby Dog-Friendly Spot: Drive-In, located in Taylors Falls, MN, offers burgers and floats that the locals love. You and your pups can enjoy a meal at one of the pet-friendly tables outside.
Location / Town: Kinnickinnic State Park, River Falls, WI
Recommended Trail: Kinnickinnic Green, Purple, and Yellow Loop, easy 3-mile loop
Information: This trail offers a scenic and varied hike through the beautiful Kinnickinnic State Park. This interconnected loop combines several trail sections, taking you through lush forests, open meadows, and along the picturesque Kinnickinnic and Saint Croix Rivers. The trail provides diverse terrain with gentle inclines, making it accessible to hikers of all levels.
Permit / Parking: Wisconsin State Park Vehicle Permit required
Nearby Dog-Friendly Spot: Bring your pup to Swinging Bridge Brewing Company in River Falls, WI. This dog-friendly bar invites two- and four-legged friends to sit together at one of the outdoor tables on the seasonal patio.
Location / Town: Pine Point Regional Park, Stillwater, MN
Recommended Trail: Gateway State Trail and Loon Lake Loop, an easy 1.8-mile loop
Information: Pine Point Regional Park is a peaceful nature area with pine forests, lakes, and marshes. This park contains five miles of multiuse trails for biking, bird watching, cross-country skiing, and hiking. The park is also open to horseback riding on some of the finest trails in the metropolitan area. The park became a regional park in 2005 and serves as one of the major trailheads to the State of Minnesota's Gateway Trail.
Permit / Parking: Washington County Parks Vehicle Permit required
Nearby Dog-Friendly Spot: Stillwater is an incredibly dog-friendly place. Check out Discover Stillwater's Dog-Friendly Stillwater page for information about dog-friendly restaurants and shops.
Location / Town: St. Croix Boom Site State Wayside, Stillwater, MN
Recommended Trail: St. Croix Boom Site River Trail, under 1 mile out-and-back
Information: A half-mile trail along the St. Croix River connects historical and geological markers with the north parking lot, where there are interpretive panels, a large picnic area, and a seasonal sanitation facility. Dogs can swim in the river here as well!
Permit / Parking: No permits or parking fees required
Nearby Dog-Friendly Spot: Stillwater is an incredibly dog-friendly place. Check out Discover Stillwater's Dog-Friendly Stillwater page for information about dog-friendly restaurants and shops.
Location / Town: St. Croix State Park, Hinckley, MN
Recommended Trail: River Bluff Trail to River's Edge Trail, an easy 3.7-mile trail
Information: The trail winds along the scenic Missouri River. As you traverse the trail, you'll be treated to beautiful views of Shady Oak Lake and Riley Lake Park. The area is abundant in flora and fauna, making it an excellent spot for nature enthusiasts looking to observe wildlife and enjoy diverse plant life. Be cautious of slippery sections, particularly after rain.
Permit / Parking: Minnesota State Park Vehicle Permit required
Nearby Dog-Friendly Spot: A&W Root Beer Drive-In is a dog-friendly restaurant serving made-to-order American fare to Pine City locals and tourists alike. The restaurant offers three outdoor tables to dog owners wanting to sip on a frosty mug of Root Beer alongside their dog.
Location / Town: St. Croix National Scenic Riverway & Standing Cedars Community Land Conservancy, Osceola, WI
Recommended Trail: Buttermilk Falls Trail, a moderately difficult 1.4-mile trail
Information: There are many interesting areas to explore on this 245-acre property, including dry cliffs, oak savanna, a moist ravine, maple/basswood forest, and former farm fields. A 25-acre pasture on the north side of the property is full of prairie plants. Standing Cedars has removed many of the cedar trees that had been taking over this area and has been burning and mowing to set back the sumac, prickly ash, and other invasive plants. Dogs must be on leash from April 15 - July 31 for the protection of all nesting birds and animals.
Permit / Parking: No permits or parking fees required
Nearby Dog-Friendly Spot: The Watershed Cafe is a pet-friendly eatery in Osceola, WI that welcomes leashed dogs at outdoor tables.
Location / Town: Straight Lake State Park, Luck, WI
Recommended Trails: Rainbow Lake via Ice Trail from 280th Avenue, an easy 4.5-mile trail
Information: A beautiful, family-friendly hike through the woods and along Straight Lake. A few water crossings with stepping stones and wood bridges. Part of this trail is a section of the Ice Age Trail.
Permit / Parking: Wisconsin State Park Vehicle Permit required
Nearby Dog-Friendly Spot: Cafe Wren welcomes dogs to sit with their owners at several outdoor tables under a pavilion, which comes in handy on hot or rainy days. Enjoy some quality coffee and simple grub with your canine companion if you're out their way. They serve a delectable menu of breakfast sandwiches, organic oatmeal, granola, cappuccinos, teas, frappes, smoothies, shakes, and more. The cafe supports local art and is a great place for bikers and hikers to stop in while they're exploring the outdoors.
Location / Town: Wert Family Nature Preserve, St. Croix Falls, WI
Recommended Trails: Trail of Myths, a moderately difficult 2.1-mile loop trail
Information: The 450-acre Wert Family Nature Preserve is an amazing property. A short walk from the parking lot and busy Hwy. 87, and you are in another world. Adjacent to the St. Croix River and the city of St. Croix Falls, with a section of the Ice Age Trail running through it, this place offers some of the best birding around.
Permit / Parking: No permits or parking fees required
Nearby Dog-Friendly Spot: Deer Lake Winery is a beautiful dog-friendly establishment located in St. Croix Falls, WI. Dogs are welcome to join you at a table under the covered outdoor canopy.
Location / Town: Wild River State Park, Center City, MN
Recommended Trails: Nevers Dam to Walter Mondale River Trail to Old Logging Trail, an easy 3.1-mile trail
Information: Wild River State Park is located along 18 miles of the beautiful St. Croix River. The park attracts people who enjoy camping, hiking, horseback riding, canoeing, interpretive programs, self-guided trails, and cross-country skiing and snowshoeing. Day visitors can enjoy a leisurely paddle down the St. Croix River from the Sunrise River access to the southern park river access.
Permit / Parking: Minnesota State Park Vehicle Permit required
Nearby Dog-Friendly Spot: Dine beside your four-legged companion at the dog-friendly Jake's on the Lakes in Center City, MN. The umbrella-shaded outdoor tables on the patio overlooking the North Center Lake make this a great spot to unwind with your pup during breakfast, lunch, or dinner.
Location / Town: William O'Brien State Park, Marine on St. Croix, MN
Recommended Trails: Upper Park Trail, over 5 miles, moderate difficulty. Riverside Trail, an easy 1.6-mile loop.
Information: Following the Willow River, the trail progressively climbs uphill, with some steep parts. After a lengthy descent, you'll enter the river valley and find yourself at the river's side. A bridge crosses the river here. Once you get onto the Burkhardt Trail, you will weave through prairie and deciduous forests, with plenty of chances to see deer, birds, and rabbits. With plenty of shade and multiple picturesque vistas, the trail climbs a flight of stairs rather steeply.
Permit / Parking: Minnesota State Park Vehicle Permit required
Nearby Dog-Friendly Spot: Smilin Moose Lodge Bar & Grill is a dog-friendly eatery in Hudson, WI, that welcomes leashed pups to sit outside with you at an umbrella-covered table on the lower-level patio. While you treat yourself to something from their classic pub-style menu, your dog can enjoy a treat off his very own dog menu.
Location / Town: Willow River State Park, Hudson, WI
Trail: Willow Falls Trail to Burkhardt Trail, 2.1 miles, moderate difficulty
Information: Following the Willow River, the trail progressively climbs uphill, with some steep parts. After a lengthy descent, you'll enter the river valley and find yourself at the river's side. A bridge crosses the river here. Once you get onto the Burkhardt Trail, you will weave through prairie and deciduous forests, with plenty of chances to see deer, birds, and rabbits. With plenty of shade and multiple picturesque vistas, the trail climbs a flight of stairs rather steeply.
Permit / Parking: Wisconsin State Park Vehicle Permit required
Nearby Dog-Friendly Spot: Smilin Moose Lodge Bar & Grill is a dog-friendly eatery in Hudson, WI, that welcomes leashed pups to sit outside with you at an umbrella-covered table on the lower-level patio. While you treat yourself to something from their classic pub-style menu, your dog can enjoy a treat off his very own dog menu.
Tips for Hiking Dog-Friendly Trails
Keep your dog on a six-foot leash (required in all MN & WI State Parks as well as most regional and county parks), unless the park/trail explicitly states that off-leash dogs are okay
Pack extra water, snacks, and dog waste bags
Bring a blanket or towel for muddy paws after the hike
With so many stunning parks and trails to explore, the Dog-Friendly St. Croix River Valley is the perfect spot for adventures with your dog. Where will you explore first?
About Scruff Life Photography:
Hi, I'm Lauren, the pet-loving photographer behind Scruff Life Photography! Based on the Minnesota side of the St. Croix River Valley, I specialize in capturing the unique bond between people and their beloved pets. Whether you’ve just welcomed a new pet into your life or are cherishing the years spent with a lifelong companion, I’m here to help you preserve those special moments. Pets are family, and their stories deserve to be celebrated with timeless, professional photos you’ll treasure forever. Let’s create something meaningful together — reach out today to schedule your pet photo session!
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